#include <command_processor_base.h>

类 apollo::external_command::CommandProcessorBase 继承关系图:

apollo::external_command::CommandProcessorBase 的协作图:

Public 成员函数
	CommandProcessorBase ()

virtual	~CommandProcessorBase ()=default

virtual bool	Init (const std::shared_ptr< cyber::Node > &node)

virtual bool	GetCommandStatus (int64_t command_id, CommandStatus *status) const =0
	Get the command status.

Protected 成员函数
const CommandProcessorConfig &	GetProcessorConfig () const

const std::shared_ptr< cyber::Node > &	Node () const

详细描述

在文件 command_processor_base.h 第 43 行定义.

构造及析构函数说明

◆ CommandProcessorBase()

apollo::external_command::CommandProcessorBase::CommandProcessorBase ( )

在文件 command_processor_base.cc 第 38 行定义.

39 : processor_config_(std::make_shared<CommandProcessorConfig>()) {}

◆ ~CommandProcessorBase()

virtual apollo::external_command::CommandProcessorBase::~CommandProcessorBase ( )

virtualdefault

成员函数说明

◆ GetCommandStatus()

virtual bool apollo::external_command::CommandProcessorBase::GetCommandStatus	(	int64_t	command_id,
		CommandStatus *	status
	)		const

pure virtual

Get the command status.

参数

command_id	Id of the command.
status	Output command status.

在 apollo::external_command::ActionCommandProcessor, apollo::external_command::MotionCommandProcessorBase< T >, apollo::external_command::MotionCommandProcessorBase< LaneFollowCommand > , 以及 apollo::external_command::MotionCommandProcessorBase< ValetParkingCommand > 内被实现.

◆ GetProcessorConfig()

const CommandProcessorConfig & apollo::external_command::CommandProcessorBase::GetProcessorConfig ( ) const

protected

在文件 command_processor_base.cc 第 58 行定义.

                                                                             {
  return *processor_config_;
}

◆ Init()

bool apollo::external_command::CommandProcessorBase::Init ( const std::shared_ptr< cyber::Node > & node )

virtual

被 apollo::external_command::ActionCommandProcessor, apollo::external_command::MotionCommandProcessorBase< T >, apollo::external_command::MotionCommandProcessorBase< LaneFollowCommand > , 以及 apollo::external_command::MotionCommandProcessorBase< ValetParkingCommand > 重载.

在文件 command_processor_base.cc 第 41 行定义.

                                                                    {
  int status;
  std::string class_name =
      abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
  // Generate the default task config path from PluginManager.
  std::string config_path =
      apollo::cyber::plugin_manager::PluginManager::Instance()
          ->GetPluginConfPath<CommandProcessorBase>(class_name,
                                                    "conf/config.pb.txt");
  if (!cyber::common::GetProtoFromFile(config_path, processor_config_.get())) {
    AERROR << "Cannot get config of " << class_name;
    return false;
  }
  node_ = node;
  return true;
}

◆ Node()

const std::shared_ptr< cyber::Node > & apollo::external_command::CommandProcessorBase::Node ( ) const